Implementation of Speed and Torque Control on Quadrotor Altitude and Attitude Stability


Most quadrotor flight controllers make use of an attitude control loop, which is responsible for stabilizing the flight of the vehicle by directly driving the four motors via the electronic speed controllers (ESCs). Such a control loop loses its effectiveness when the motors and ESCs are not well matched resulting in variation of the control performance. This study presents an alternative control structure that incorporates an inner speed and torque control loop within the attitude and altitude loop in order to achieve better flight stability and maneuverability. The control structure is designed to make use of PID control in order to correct for errors in the process and drive the motors correspondingly. Read More